Publish API connected value

mir_connector/inorbit_mir_connector/src/connector.py

@@ -277,6 +277,9 @@ def _execution_loop(self):
             "mode_text": mode_text,
             "robot_model": self.status["robot_model"],
             "waiting_for": self.mission_tracking.waiting_for_text,
+            # The API connected value tells wether or not the last API call was successful
+            # It is recommended to create a status based on this value and use it for incidents
+            "api_connected": self.mir_api.get_last_api_call_successful(),
         }
         self._logger.debug(f"Publishing key values: {key_values}")
         self._robot_session.publish_key_values(key_values)

mir_connector/inorbit_mir_connector/src/mir_api/mir_api_base.py

@@ -12,13 +12,16 @@ class MirApiBaseClass(ABC):
     def __init__(self, loglevel):
         self.logger = logging.getLogger(name=self.__class__.__name__)
         self.logger.setLevel(loglevel)
+        self.last_api_call_successful = None
 
     def _handle_status(self, res, request_args):
         """Log and raise an exception if the request failed."""
         try:
             res.raise_for_status()
+            self.set_last_api_call_successful(True)
         except HTTPError as e:
             self.logger.error(f"Error making request: {e}\nArguments: {request_args}")
+            self.set_last_api_call_successful(False)
             raise e
 
     def _get(self, url: str, session: Session, **kwargs) -> Response:
@@ -52,6 +55,12 @@ def _put(self, url: str, session: Session, **kwargs) -> Response:
         self._handle_status(res, kwargs)
         return res
 
+    def set_last_api_call_successful(self, success: bool) -> None:
+        self.last_api_call_successful = success
+
+    def get_last_api_call_successful(self) -> bool:
+        return self.last_api_call_successful
+
     @abstractmethod
     def _create_api_session(self) -> Session:
         """Configures a session object to interact with the MiR API."""